| 无人车平台激光点云中线特征提取 |
| |
| 引用本文： | 蔡斌斌,李必军.无人车平台激光点云中线特征提取[J].测绘通报,2019,0(2):32-38. |
| |
| 作者姓名： | 蔡斌斌 李必军 |
| |
| 作者单位： | 武汉大学测绘遥感信息工程国家重点实验室,湖北 武汉,430079;武汉大学测绘遥感信息工程国家重点实验室,湖北 武汉430079;时空数据智能获取技术与应用教育部工程研究中心,湖北 武汉430079 |
| |
| 基金项目： | 国家自然科学基金（41671441；U1764262） |
| |
| 摘 要： | 随着无人平台的应用越来越广泛，由激光点云提取线特征构建高精度特征地图已成为研究的重点。本文基于深度图像中的二维线特征，提出了一种新的几何模型对其进行优化，得到准确的三维线特征，并使用贝叶斯滤波对多帧结果进行融合，提高了三维再线特征的精度和准确率。
|
| 关 键 词： | 激光点云 深度图像 边缘检测 线特征提取 贝叶斯滤波 |
| 收稿时间： | 2018-05-28 |
Line feature extraction from LiDAR point cloud of unmanned vehicle platform |
| |
| CAI Binbin,LI Bijun.Line feature extraction from LiDAR point cloud of unmanned vehicle platform[J].Bulletin of Surveying and Mapping,2019,0(2):32-38. |
| |
| Authors: | CAI Binbin LI Bijun |
| |
| Institution: | 1. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China;
2. Engineering Research Center for Spatio-temporal Data Smart Acquisition and Application, Ministry of Education of China, Wuhan 430079, China |
| |
| Abstract: | As the application of unmanned platforms is becoming more and more widespread, building high-precision feature maps by extracting line features from LiDAR point cloud has also become the focus of research. In this paper, a new geometric model is proposed to obtain accurate 3D line features based on the 2D line features of the depth image. The Bayesian filter is used to fuse the results of multiple frames to improve the precision and accuracy of the 3D line features. |
| |
| Keywords: | LiDAR depth image edge detection line target extraction Bayes filter |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《测绘通报》浏览原始摘要信息 |
| 点击此处可从《测绘通报》下载免费的PDF全文 |
